Combined Model-Compensated and Quasi-Resonant Linear Active Disturbance Rejection Control for PMSM Drives

When operating at ultra-low speeds, Permanent Magnet Synchronous Motor (PMSM) is subject to disturbances such as non-linear frictional torque and periodic disturbance torque. These uncertain disturbances can cause fluctuations in speed, which deteriorate the speed loop performance. To address the problem, this paper proposed a linear active disturbance rejection control strategy (LADRC) that combined model-compensation and quasi-resonant control. The Stribeck model was chosen to estimate the non-linear frictional torque and input it into the linear expanding state observer (LESO) to reduce the estimation burden of LESO; The introduction of a quasi-resonant term (QR) in LESO improves the suppression of periodic harmonics in the mid-frequency band by linear active disturbance rejection control. Finally, the effectiveness of the proposed control strategy is verified by simulation experiments.